costmap_recovery_execution.cpp
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
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33  * costmap_recovery_execution.cpp
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
43 
44 namespace mbf_costmap_nav
45 {
46 
48  const std::string &recovery_name,
49  const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr,
50  const TFPtr &tf_listener_ptr,
51  const CostmapWrapper::Ptr &global_costmap,
52  const CostmapWrapper::Ptr &local_costmap,
53  const MoveBaseFlexConfig &config)
54  : AbstractRecoveryExecution(recovery_name, recovery_ptr, tf_listener_ptr, toAbstract(config)),
55  global_costmap_(global_costmap), local_costmap_(local_costmap)
56 {
57 }
58 
60 {
61 }
62 
63 mbf_abstract_nav::MoveBaseFlexConfig CostmapRecoveryExecution::toAbstract(const MoveBaseFlexConfig &config)
64 {
65  // copy the recovery-related abstract configuration common to all MBF-based navigation
66  mbf_abstract_nav::MoveBaseFlexConfig abstract_config;
67  abstract_config.recovery_enabled = config.recovery_enabled;
68  abstract_config.recovery_patience = config.recovery_patience;
69  return abstract_config;
70 }
71 
72 } /* namespace mbf_costmap_nav */
CostmapRecoveryExecution(const std::string &recovery_name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &global_costmap, const CostmapWrapper::Ptr &local_costmap, const MoveBaseFlexConfig &config)
Constructor.
mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:29